CN206692221U - A kind of transporter grab crane control system - Google Patents
A kind of transporter grab crane control system Download PDFInfo
- Publication number
- CN206692221U CN206692221U CN201720080508.6U CN201720080508U CN206692221U CN 206692221 U CN206692221 U CN 206692221U CN 201720080508 U CN201720080508 U CN 201720080508U CN 206692221 U CN206692221 U CN 206692221U
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- grab bucket
- host computer
- grab
- output end
- control system
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Abstract
The utility model discloses a kind of transporter grab crane control system, including host computer, the image capture module of IMAQ, the locating module positioned to grab bucket crane body and grab bucket, drive mechanism are carried out to truck cargo box and material；The drive mechanism includes controller, frequency converter and motor, and the output end of the host computer passes sequentially through controller, frequency converter and motor electrical connection, the output end of described image acquisition module and the output end of locating module with upper mechatronics.The utility model is capable of the position of the distribution situation of automatic identification truck container and material, Real-time Feedback bridge-type grab starter and grab bucket, and the single crawl activity duration is short, and grab bucket can be avoided to be crashed with truck, crawl efficiency high.
Description
Technical field
The utility model belongs to the manipulation field of grab bucket crane, more particularly to a kind of transporter grab crane manipulation system
System.
Background technology
Bulk cargo refers to coal, ore, grain, cement etc., and bulk cargo is typically stored in feed bin, and bulk cargo needs to take out from feed bin
It is attached in truck cargo box and transports again.Grab bucket crane is mainly used in the car loading operation of bulk cargo, because its shipping capacity is strong, into
For the main truck-loading facilities of domestic and international various bulk cargo fields.
Transporter grab crane belongs to one kind of grab bucket crane, as shown in figure 1, transporter grab crane is by grab bucket lifting
Machine body 1, guide rail 3, moving cart 8, the composition of grab bucket 2.Grab bucket crane body 1 can move along guide rail 3.Moving cart 8 can
Moved on grab bucket crane body 1, while moving cart 8 drives grab bucket 2 to move up and down by steel wire rope 9.When truck 7 is stopped
At the parking stall on the side of feed bin 5, transporter grab crane runs to the overhead of feed bin 5, and then the material 4 in feed bin 5 is carried out
Crawl, grab bucket and 2 lifted after the completion of crawl, then transporter grab crane is run to putting down grab bucket directly over truck cargo box 6
2, when grab bucket 2 soon close to truck cargo box 6 when, grab bucket 2 unclamped by grab bucket 2 in material 4 is put into truck cargo box 6.
For transporter grab crane, the Grasping skill of the production capacity of transporter grab crane and grab bucket 2 and grab
The operational efficiency of bucket 2 is relevant.Because the driving cabin and logistics of transporter grab crane are apart from each other, the visual field of operating personnel has
Limit, operating personnel fully rely on the distribution feelings of human eye or micro-judgment truck cargo box 6 and material 4 in driving cabin operating process
Condition, then motor is controlled by experience manually（Including cart walking motor, dolly running motor and grab bucket lifting motor）Band
Dynamic grab bucket crane body 1 and grab bucket 2 are run to target location.The operation of different operating personnel is horizontal different with qualification
There is large effect to the production capacity of transporter grab crane.Grab bucket 2 captures motion of the logistics to truck cargo box 6 from feed bin 5
The planning and control of track directly determine the time of single crawl operation, so as to determine the production energy of transporter grab crane
Power.
It can be seen that conventionally, as the operation of transporter grab crane depends critically upon the operation warp of operating personnel
Test and working sense of responsibility, the reason such as the mood of operating personnel, operation level, working sense of responsibility is likely to cause maloperation, makes
It may bump against into grab bucket with truck and crash, crawl efficiency is low.
The content of the invention
In the existing operating process to transporter grab crane, the distribution of eye recognition truck cargo box and material is fully relied on
Situation, and control the movement of grab bucket crane body and grab bucket and material to move process according to artificial experience.It is of the present utility model
Purpose is, for above-mentioned the deficiencies in the prior art, there is provided a kind of transporter grab crane control system, being capable of auto-recognition card
The position of the distribution situation of car container and material, Real-time Feedback transporter grab crane and grab bucket, the single crawl activity duration is short,
And grab bucket can be avoided to be crashed with truck, capture efficiency high.
In order to solve the above technical problems, technical scheme is used by the utility model：
A kind of transporter grab crane control system, it is structurally characterized in that including host computer and truck cargo box and material is entered
The image capture module of row IMAQ, the output end of described image acquisition module and upper mechatronics.
By said structure, IMAQ is carried out to the distribution situation of truck cargo box and material using image capture module,
And image taking results are delivered into host computer and shown, so as to avoid fully relying on human eye and experience identification truck cargo box and material
Distribution situation, the distribution situation accurate positioning to truck cargo box and material, avoid the occurrence of because people can not see truck and material and
Caused by the operating time is long, the defects of easily colliding.
Further, in addition to grab bucket crane body and grab bucket the locating module positioned, the locating module
Output end and upper mechatronics.
By said structure, the position of grab bucket crane body and grab bucket is positioned using locating module, and will be fixed
Position result delivers to host computer real-time display, and operating personnel can judge grab bucket crane according to image taking results and positioning result
The distance of truck cargo box and material is arrived in body and grab bucket, so as to targetedly adjust grab bucket crane body and grab bucket
Situation of movement, shorten the operating time, avoid the occurrence of grab bucket and truck collision or the situation generation of material can not be captured.
Further, in addition to drive mechanism, the drive mechanism includes controller, frequency converter and motor, described
The output end of host computer passes sequentially through controller, frequency converter and motor electrical connection.
It is real-time due to the distribution situation of truck cargo box or material, grab bucket crane body and grab bucket by said structure
Host computer has been delivered in position, and host computer can calculate the position grabbed bucket and need to reach according to testing result（Target location）'s
Three-dimensional coordinate information, at the same the three-dimensional coordinate information progress current with grab bucket of the three-dimensional coordinate information of target location is right in real time
Than, it can be deduced that the deviation in three directions of X, Y, Z axis is how many respectively, it is hereby achieved that motor（Cart walking electricity
Machine, dolly running motor, grab bucket lifting motor）It is respectively required for that how many distance moved, final host computer passes sequentially through controller, frequency conversion
Device driving motor moves according to result of calculation, captures efficiency high.
As a kind of preferred embodiment, the controller is PLC.
The control instruction that PLC is sent according to host computer, control transducer drive motor work, is driven by motor
Grab bucket crane body is grabbed bucket to specified position.
As a kind of preferred embodiment, described image acquisition module includes three-dimensional laser scanner and 3D cameras, and described three
Tie up the output end of laser scanner and 3D cameras with upper mechatronics.
At present, three-dimensional laser scanner has been widely used for the structure of various threedimensional models, and the utility model is to use it
The threedimensional model of truck cargo box and material is built to realize.Three-dimensional laser scanner can collect truck cargo box and material
Three-dimensional coordinate information, and with reference to the three-dimensional data of 3D camera calibrations, realize that the threedimensional model of truck cargo box and material is built.
As a kind of preferred embodiment, the locating module includes laser range finder and rotary encoder, the laser ranging
The output end of instrument and rotary encoder with upper mechatronics.
Compared with prior art, the utility model is capable of the distribution situation of automatic identification truck container and material, anti-in real time
The position of bridge-type grab starter and grab bucket is presented, the single crawl activity duration is short, and grab bucket can be avoided to be collided with truck
Accident, capture efficiency high.
Brief description of the drawings
Fig. 1 is the structural representation of transporter grab crane.
Fig. 2 is the structural representation of the embodiment of the utility model one.
Wherein, 1 is grab bucket crane body, and 2 be grab bucket, and 3 be guide rail, and 4 be material, and 5 be feed bin, and 6 be truck cargo box, 7
It is moving cart for truck, 8,9 be steel wire rope, and 10 be host computer, and 11 be image capture module, and 12 be locating module, and 13 be drive
Motivation structure, 14 be controller, and 15 be frequency converter, and 16 be motor, and 161 be cart walking motor, and 162 be dolly traveling electricity
Machine, 163 be grab bucket lifting motor, and 17 be three-dimensional laser scanner, and 18 be 3D cameras, and 19 be laser range finder, and 20 be rotation
Encoder.
Embodiment
As shown in figure 1, an embodiment of the present utility model includes host computer 10 and truck cargo box 6 and material 4 is entered
The image capture module 11 of row IMAQ, the output end of described image acquisition module 11 electrically connect with host computer 10.The figure
As acquisition module 11 includes three-dimensional laser scanner 17 and 3D cameras 18, the three-dimensional laser scanner 17 and 3D cameras 18
Output end electrically connected with host computer 10.
Embodiment one also includes the locating module 12 positioned to grab bucket crane body 1 and grab bucket 2, the positioning mould
The output end of block 12 electrically connects with host computer 10.The locating module 12 includes laser range finder 19 and rotary encoder 20, institute
The output end for stating laser range finder 19 and rotary encoder 20 electrically connects with host computer 10.
Embodiment one also includes drive mechanism 13, and the drive mechanism 13 includes controller 14, frequency converter 15 and driving electricity
Machine 16, the output end of the host computer 10 pass sequentially through controller 14, frequency converter 15 and motor 16 and electrically connected.The control
Device 14 is PLC.
Image capture module 11 is used to carry out IMAQ to truck cargo box 6 and the distribution situation of material 4 and will gather information
It is sent to host computer 10；Locating module 12 detects the positional information of grab bucket crane and grab bucket 2 and is sent to positional information
Position machine 10；Host computer 10 adjusts the mobile route of control grab bucket crane and grab bucket 2 according to the signal of collection and will generated in real time
Mobile route be changed into control signal and be sent to drive mechanism 13；Drive mechanism 13 controls according to the control signal of host computer 10
Grab bucket crane movement and the action of grab bucket 2, complete the repetition entrucking process of transporter grab crane.Motor 16 includes big
Car running motor 161, dolly running motor 162, grab bucket lifting motor 163.Cart walking motor 161 drives grab bucket 2 in X-axis side
To movement, dolly running motor 162 drives grab bucket 2 to be moved in Y direction, and grab bucket lifting motor 163 drives grab bucket 2 in Z axis side
To movement.
In the implementation case, by image capture module 11 in material 4, feed bin 5 in the position of truck cargo box 6 and container
The distribution situation of material 4 is acquired, so as to obtain material 4 in the position of truck cargo box 6 and container, feed bin 5 exactly
The change of the actual distribution of middle material 4.Host computer 10 calculates the position of the crawl material 4 of grab bucket 2 according to the actual conditions of material 4
With the position for unclamping 2 entruckings of grab bucket, the path of grab bucket 2 and grab bucket crane movement is optimized so as to realize.Locating module
The physical location of 12 pairs of grab buckets 2 is monitored in real time, is avoided grab bucket 2 and is collided in motion process with truck cargo box 6.
The installation site of three-dimensional laser scanner 17 and 3D cameras 18 should be able to complete scan to truck cargo box 6 and feed bin
5 position.
Locating module 12 can monitor the speed of service, acceleration, position and the position of grab bucket 2 of grab bucket crane body 1
Put, speed, acceleration.
Control method of the present utility model comprises the following steps：
1st, distribution of the image capture module 11 to truck cargo box 6 and material 4 carries out IMAQ, and IMAQ information is sent out
Give host computer 10；Locating module 12 detects the position of grab bucket crane body 1 and grab bucket 2 and is sent to host computer 10.
2nd, the information that host computer 10 is sent according to image capture module 11 carries out image procossing and three-dimensional modeling, and generation is virtual
The truck cargo box 6 of change and the threedimensional model of material 4；Host computer 10 calculates 2 current D coordinates values of grab bucket and target location simultaneously
The difference of D coordinates value, so that it is determined that the mobile route of transporter grab crane, is changed into control path hair by mobile route
Give drive mechanism 13.
3rd, the controller 14 in drive mechanism 13 controls driving electricity according to the control instruction of host computer 10 by frequency converter 15
Machine 16 acts, the release of control grab bucket 2, closure, rising, decline and grab bucket crane body 1 it is mobile etc., so as to complete once
Bulk cargo is captured from feed bin 5 to the entrucking process of truck cargo box 6.
4th, host computer 10 judges whether truck cargo box 6 has been completely filled up（When filling, the material 4 of the top of truck cargo box 6
Z coordinate is more than or equal to the Z coordinate of the peak of truck cargo box 6）If filling, terminate manipulation process；Otherwise repeat the above steps
Until truck cargo box 6 is completely filled up.
Embodiment of the present utility model is described above in conjunction with accompanying drawing, but the utility model is not limited to
The embodiment stated, above-mentioned embodiment is only schematical, rather than limitation, this area it is common
Technical staff is not departing from the utility model aims and scope of the claimed protection situation under enlightenment of the present utility model
Under, many forms can be also made, these are belonged within the scope of protection of the utility model.
Claims (5)
1. a kind of transporter grab crane control system, it is characterised in that including host computer（10）With to truck cargo box（6）And thing
Material（4）Carry out the image capture module of IMAQ（11）, described image acquisition module（11）Output end and host computer（10）
Electrical connection；Also include to grab bucket crane body（1）And grab bucket（2）The locating module positioned（12）, the locating module
（12）Output end and host computer（10）Electrical connection.
2. transporter grab crane control system as claimed in claim 1, it is characterised in that also including drive mechanism（13）,
The drive mechanism（13）Including controller（14）, frequency converter（15）And motor（16）, the host computer（10）Output
End passes sequentially through controller（14）, frequency converter（15）And motor（16）Electrical connection.
3. transporter grab crane control system as claimed in claim 2, it is characterised in that the controller（14）For PLC.
4. the transporter grab crane control system as described in any one of claims 1 to 3, it is characterised in that described image is adopted
Collect module（11）Including three-dimensional laser scanner（17）With 3D cameras（18）, the three-dimensional laser scanner（17）Taken a picture with 3D
Machine（18）Output end and host computer（10）Electrical connection.
5. the transporter grab crane control system as described in any one of claims 1 to 3, it is characterised in that the positioning mould
Block（12）Including laser range finder（19）And rotary encoder（20）, the laser range finder（19）And rotary encoder（20）'s
Output end is and host computer（10）Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720080508.6U CN206692221U (en) | 2017-01-22 | 2017-01-22 | A kind of transporter grab crane control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720080508.6U CN206692221U (en) | 2017-01-22 | 2017-01-22 | A kind of transporter grab crane control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206692221U true CN206692221U (en) | 2017-12-01 |
Family
ID=60439352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720080508.6U Active CN206692221U (en) | 2017-01-22 | 2017-01-22 | A kind of transporter grab crane control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN206692221U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584467A (en) * | 2018-05-25 | 2018-09-28 | 金陵科技学院 | A kind of unattended mining area loading goods system |
| CN109019336A (en) * | 2018-09-06 | 2018-12-18 | 北京起重运输机械设计研究院有限公司 | A kind of grab bucket crane control system and method based on material detection |
| CN109987519A (en) * | 2017-12-29 | 2019-07-09 | 西门子（中国）有限公司 | A kind of grab bucket ship unloader carries out the method, apparatus and system of ship-discharging operation |
| WO2019232937A1 (en) * | 2018-06-08 | 2019-12-12 | 江苏金恒信息科技股份有限公司 | Four-rope grab bucket slag material grabbing system and method |
| CN112158586A (en) * | 2020-09-25 | 2021-01-01 | 苏州寰宇新博环保设备工程有限公司 | Article gripping method, article gripping system, gripping control method, and gripping device |
| CN112299048A (en) * | 2019-07-30 | 2021-02-02 | 上海宝信软件股份有限公司 | Train loading and distributing system and method based on unmanned grab bucket running mode |
| CN112357765A (en) * | 2020-11-18 | 2021-02-12 | 北京起重运输机械设计研究院有限公司 | Hoisting system and method based on laser scanning |
| CN112627833A (en) * | 2020-12-17 | 2021-04-09 | 中铁山河工程装备股份有限公司 | Intelligent material conveying system for shield construction |
| CN117237616A (en) * | 2023-11-14 | 2023-12-15 | 大连九州创智科技有限公司 | Material dispatching scanning identification system and method for steel plate storage yard |
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2017
- 2017-01-22 CN CN201720080508.6U patent/CN206692221U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109987519A (en) * | 2017-12-29 | 2019-07-09 | 西门子（中国）有限公司 | A kind of grab bucket ship unloader carries out the method, apparatus and system of ship-discharging operation |
| CN108584467A (en) * | 2018-05-25 | 2018-09-28 | 金陵科技学院 | A kind of unattended mining area loading goods system |
| WO2019232937A1 (en) * | 2018-06-08 | 2019-12-12 | 江苏金恒信息科技股份有限公司 | Four-rope grab bucket slag material grabbing system and method |
| CN109019336A (en) * | 2018-09-06 | 2018-12-18 | 北京起重运输机械设计研究院有限公司 | A kind of grab bucket crane control system and method based on material detection |
| CN112299048A (en) * | 2019-07-30 | 2021-02-02 | 上海宝信软件股份有限公司 | Train loading and distributing system and method based on unmanned grab bucket running mode |
| CN112299048B (en) * | 2019-07-30 | 2022-04-01 | 上海宝信软件股份有限公司 | Train loading and distributing system and method based on unmanned grab bucket running mode |
| CN112158586A (en) * | 2020-09-25 | 2021-01-01 | 苏州寰宇新博环保设备工程有限公司 | Article gripping method, article gripping system, gripping control method, and gripping device |
| CN112357765A (en) * | 2020-11-18 | 2021-02-12 | 北京起重运输机械设计研究院有限公司 | Hoisting system and method based on laser scanning |
| CN112627833A (en) * | 2020-12-17 | 2021-04-09 | 中铁山河工程装备股份有限公司 | Intelligent material conveying system for shield construction |
| CN117237616A (en) * | 2023-11-14 | 2023-12-15 | 大连九州创智科技有限公司 | Material dispatching scanning identification system and method for steel plate storage yard |
| CN117237616B (en) * | 2023-11-14 | 2024-02-06 | 大连九州创智科技有限公司 | Material dispatching scanning identification system and method for steel plate storage yard |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190626 Address after: 410019 No. 299, Mu Lin East Road, Yuhua District, Changsha, Hunan Patentee after: Changsha Huahengyuan Information Technology Co., Ltd. Address before: 410019 No. 299, Mu Lin East Road, Yuhua District, Changsha, Hunan Co-patentee before: Zhong Lv international project limited-liability company Patentee before: Changsha Engineering & Research Institute of Nonferrous Metallurgy Co., Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 410205 room a788, 7 / F, building 9, Changsha Zhongdian Software Park, No.39, Jianshan Road, Changsha hi tech Development Zone, Changsha City, Hunan Province Patentee after: Huachu Intelligent Technology (Hunan) Co., Ltd Address before: 410019 Hunan province Changsha Yuhua District, Magnolia Road No. 299 Patentee before: Changsha Huahengyuan Information Technology Co., Ltd. |